cmake_minimum_required(VERSION 3.8)
project(wrobot_navigation2)

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

# find dependencies
find_package(ament_cmake REQUIRED)
# uncomment the following section in order to fill in
# further dependencies manually.
# find_package(<dependency> REQUIRED)

find_package(rclcpp REQUIRED)
find_package(tf2 REQUIRED)
find_package(tf2_ros REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(tf2_geometry_msgs REQUIRED)
find_package(rclcpp_action REQUIRED)
find_package(nav2_msgs REQUIRED)

add_executable(get_robot_pose src/get_robot_pose.cpp)
add_executable(nav_to_pose src/nav_to_pose.cpp)

ament_target_dependencies(get_robot_pose rclcpp tf2 tf2_ros geometry_msgs tf2_geometry_msgs)
ament_target_dependencies(nav_to_pose rclcpp rclcpp_action nav2_msgs )

if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  # the following line skips the linter which checks for copyrights
  # comment the line when a copyright and license is added to all source files
  set(ament_cmake_copyright_FOUND TRUE)
  # the following line skips cpplint (only works in a git repo)
  # comment the line when this package is in a git repo and when
  # a copyright and license is added to all source files
  set(ament_cmake_cpplint_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()
endif()

install(
  TARGETS
  get_robot_pose nav_to_pose
  DESTINATION lib/${PROJECT_NAME})

install(
  DIRECTORY
  launch maps config
  DESTINATION share/${PROJECT_NAME})

ament_package()
